The invention discloses a novel super-maneuvering underwater helicopter and a control method thereof and belongs to the technical field of robots. The novel super-maneuvering underwater helicopter comprises an upper cabin, a lower cabin, a cabin disc, a turntable, a vector propulsion system, a power supply assembly, an electronic speed regulator, an IMU inertial navigation system, a wireless communication system, an underwater camera system and an attitude adjustment system. A high-energy-density lithium battery pack is selected to supply power to the whole helicopter; underwater precise positioning navigation is achieved through inertial navigation; pitch angle control over the underwater helicopter is achieved through the attitude adjustment system; the direction of propelling force is changed through the vector propelling system; the horizontal rotation performance and vertical sinking and floating stability of the helicopter are good, so that various movement and operation modes can be achieved. When the attitude of the helicopter is adjusted in water, a turntable motor rotates to enable the relative positions of a buoyancy block and a gravity block to be different, so that theattitude of the underwater helicopter can be corrected by means of buoyancy and gravity, extra thrust compensation of a propeller is not needed, and underwater navigation at a certain attack angle can be achieved.
本发明公开了一种新型超机动水下直升机及其控制方法,属于机器人技术领域,包括上舱、下舱、舱盘、转盘、矢量推进系统、供电组件、电子调速器、IMU惯性导航系统、无线通讯系统、水下摄像系统和姿态调整系统。选取高能量密度锂电池组作为整机供电,通过惯性导航实现水下精准定位航行,通过姿态调整系统实现水下直升机的俯仰角控制,通过矢量推进系统改变推进力的方向,水平回转性能和垂直沉浮稳定性较好,可以实现多种运动与作业方式。在水中调整姿态式,转盘电机转动使得浮力块与重力块相对位置的不同,可以借助浮力与重力来矫正水下直升机的姿态,不需要推进器额外的推力补偿,可以实现一定在一定攻角下的水下航行。
Novel super-maneuvering underwater helicopter and control method thereof
一种新型超机动水下直升机及其控制方法
2020-06-23
Patent
Elektronische Ressource
Chinesisch
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
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